From bf11e9bbe7508668d7b2aa68d2252259f35d3484 Mon Sep 17 00:00:00 2001 From: infiniteCable <75014343+infiniteCable@users.noreply.github.com> Date: Wed, 23 Jul 2025 11:50:54 +0200 Subject: [PATCH] Update latcontrol_curvature.py --- selfdrive/controls/lib/latcontrol_curvature.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_curvature.py b/selfdrive/controls/lib/latcontrol_curvature.py index 720b76209..1be7ca873 100644 --- a/selfdrive/controls/lib/latcontrol_curvature.py +++ b/selfdrive/controls/lib/latcontrol_curvature.py @@ -32,7 +32,7 @@ class LatControlCurvature(LatControl): actual_curvature_pose = calibrated_pose.angular_velocity.yaw / CS.vEgo actual_curvature = np.interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_pose]) - curvature_car_correction = CS.curvature - desired_curvature if self.useCarCurvature else 0. + curvature_car_correction = CS.curvature - actual_curvature if self.useCarCurvature else 0. roll_compensation = -VM.roll_compensation(params.roll, CS.vEgo) desired_curvature_corr = desired_curvature + curvature_car_correction - roll_compensation